<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>CSimpleMap.h Source File</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
<li class="current"><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="files.html"><span>File List</span></a></li>
<li><a href="globals.html"><span>File Members</span></a></li>
</ul>
</div>
<div class="header">
<div class="headertitle">
<div class="title">CSimpleMap.h</div> </div>
</div>
<div class="contents">
<a href="_c_simple_map_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CSimpleMap_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CSimpleMap_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_sensory_frame_8h.html">mrpt/slam/CSensoryFrame.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_pose_p_d_f_8h.html">mrpt/poses/CPosePDF.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_p_d_f_8h.html">mrpt/poses/CPose3DPDF.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>slam
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00041"></a><a class="code" href="structmrpt_1_1slam_1_1_c_simple_map_ptr.html#ad2468859056c63d3fcd924c2f6b9849d">00041</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a>, <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> )
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">/** This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information.</span>
<a name="l00044"></a>00044 <span class="comment"> * The pose of the sensory frame is not deterministic, but described by some PDF. Full 6D poses are used.</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * \note Objects of this class are serialized into (possibly GZ-compressed) files with the extension ".simplemap".</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * \note Before MRPT 0.9.0 the name of this class was "CSensFrameProbSequence", that's why there is a typedef with that name to allow backward compatibility.</span>
<a name="l00049"></a>00049 <span class="comment"> * \sa CSensoryFrame, CPosePDF</span>
<a name="l00050"></a>00050 <span class="comment"> * \ingroup mrpt_obs_grp</span>
<a name="l00051"></a>00051 <span class="comment"> */</span>
<a name="l00052"></a>00052 class <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00055"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#af9e3846a2ae0776d1f00a9fa67e50503">00055</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> )
<a name="l00056"></a>00056
<a name="l00057"></a>00057 public:<span class="comment"></span>
<a name="l00058"></a>00058 <span class="comment"> /** Constructor</span>
<a name="l00059"></a>00059 <span class="comment"> */</span>
<a name="l00060"></a>00060 <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a>();
<a name="l00061"></a>00061 <span class="comment"></span>
<a name="l00062"></a>00062 <span class="comment"> /** Copy constructor</span>
<a name="l00063"></a>00063 <span class="comment"> */</span>
<a name="l00064"></a>00064 CSimpleMap( const CSimpleMap &o );
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Copy constructor</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a>00068 CSimpleMap & operator = ( const CSimpleMap& o);
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** Destructor:</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a>00072 virtual ~CSimpleMap();
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** Save this object to a .simplemap binary file (compressed with gzip)</span>
<a name="l00075"></a>00075 <span class="comment"> * \sa loadFromFile</span>
<a name="l00076"></a>00076 <span class="comment"> * \return false on any error.</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a>00078 <span class="keywordtype">bool</span> saveToFile(const std::<span class="keywordtype">string</span> &filName) const;
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** Load the contents of this object from a .simplemap binary file (possibly compressed with gzip)</span>
<a name="l00081"></a>00081 <span class="comment"> * \sa saveToFile</span>
<a name="l00082"></a>00082 <span class="comment"> * \return false on any error.</span>
<a name="l00083"></a>00083 <span class="comment"> */</span>
<a name="l00084"></a>00084 <span class="keywordtype">bool</span> loadFromFile(const std::<span class="keywordtype">string</span> &filName);
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** Returns the pairs count.</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a>00089 <span class="keywordtype">size_t</span> <a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">size</a>() const;
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /** Access to the i'th pair, first one is index '0'. NOTE: This method</span>
<a name="l00092"></a>00092 <span class="comment"> * returns pointers to the objects inside the list, nor a copy of them,</span>
<a name="l00093"></a>00093 <span class="comment"> * so <b>do neither modify them nor delete them</b>.</span>
<a name="l00094"></a>00094 <span class="comment"> * NOTE: You can pass a NULL pointer if you dont need one of the two variables to be returned.</span>
<a name="l00095"></a>00095 <span class="comment"> * \exception std::exception On index out of bounds.</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a>00097 <span class="keywordtype">void</span> get(<span class="keywordtype">size_t</span> index, <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> &out_posePDF, <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &out_SF ) const ;
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Changes the i'th pair, first one is index '0'.</span>
<a name="l00100"></a>00100 <span class="comment"> * The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this.</span>
<a name="l00101"></a>00101 <span class="comment"> * If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values).</span>
<a name="l00102"></a>00102 <span class="comment"> * \exception std::exception On index out of bounds.</span>
<a name="l00103"></a>00103 <span class="comment"> * \sa insert, get, remove</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a>00105 <span class="keywordtype">void</span> <a class="code" href="classstd_1_1set.html" title="STL class.">set</a>(<span class="keywordtype">size_t</span> index, const <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> &in_posePDF, const <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF );
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** Changes the i'th pair, first one is index '0'.</span>
<a name="l00108"></a>00108 <span class="comment"> * The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this.</span>
<a name="l00109"></a>00109 <span class="comment"> * If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values).</span>
<a name="l00110"></a>00110 <span class="comment"> * This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.</span>
<a name="l00111"></a>00111 <span class="comment"> * \exception std::exception On index out of bounds.</span>
<a name="l00112"></a>00112 <span class="comment"> * \sa insert, get, remove</span>
<a name="l00113"></a>00113 <span class="comment"> */</span>
<a name="l00114"></a>00114 <span class="keywordtype">void</span> <a class="code" href="classstd_1_1set.html" title="STL class.">set</a>(<span class="keywordtype">size_t</span> index, const <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> &in_posePDF, const <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF );
<a name="l00115"></a>00115 <span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment"> /** Deletes the i'th pair, first one is index '0'.</span>
<a name="l00117"></a>00117 <span class="comment"> * \exception std::exception On index out of bounds.</span>
<a name="l00118"></a>00118 <span class="comment"> * \sa insert, get, set</span>
<a name="l00119"></a>00119 <span class="comment"> */</span>
<a name="l00120"></a>00120 <span class="keywordtype">void</span> remove(<span class="keywordtype">size_t</span> index);
<a name="l00121"></a>00121 <span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment"> /** Add a new pair to the sequence. The objects are copied, so original ones can be free if desired after insertion. */</span>
<a name="l00123"></a>00123 <span class="keywordtype">void</span> insert( const <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> *in_posePDF, const <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> &in_SF );
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). */</span>
<a name="l00126"></a>00126 <span class="keywordtype">void</span> insert( const <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> *in_posePDF, const <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF );
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /** Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). */</span>
<a name="l00129"></a>00129 <span class="keywordtype">void</span> insert( const <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> &in_posePDF, const <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF );
<a name="l00130"></a>00130 <span class="comment"></span>
<a name="l00131"></a>00131 <span class="comment"> /** Add a new pair to the sequence. The objects are copied, so original ones can be free if desired</span>
<a name="l00132"></a>00132 <span class="comment"> * after insertion.</span>
<a name="l00133"></a>00133 <span class="comment"> * This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.</span>
<a name="l00134"></a>00134 <span class="comment"> */</span>
<a name="l00135"></a>00135 <span class="keywordtype">void</span> insert( const <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> &in_posePDF, const <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF );
<a name="l00136"></a>00136 <span class="comment"></span>
<a name="l00137"></a>00137 <span class="comment"> /** Add a new pair to the sequence. The objects are copied, so original ones can be free if desired</span>
<a name="l00138"></a>00138 <span class="comment"> * after insertion.</span>
<a name="l00139"></a>00139 <span class="comment"> * This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.</span>
<a name="l00140"></a>00140 <span class="comment"> */</span>
<a name="l00141"></a>00141 <span class="keywordtype">void</span> insert( const <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a> *in_posePDF, const <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> &in_SF );
<a name="l00142"></a>00142 <span class="comment"></span>
<a name="l00143"></a>00143 <span class="comment"> /** Add a new pair to the sequence. The objects are copied, so original ones can be free if desired</span>
<a name="l00144"></a>00144 <span class="comment"> * after insertion.</span>
<a name="l00145"></a>00145 <span class="comment"> * This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.</span>
<a name="l00146"></a>00146 <span class="comment"> */</span>
<a name="l00147"></a>00147 <span class="keywordtype">void</span> insert( const <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a> *in_posePDF, const <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF );
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /** Remove all stored pairs.</span>
<a name="l00150"></a>00150 <span class="comment"> * \sa remove</span>
<a name="l00151"></a>00151 <span class="comment"> */</span>
<a name="l00152"></a>00152 <span class="keywordtype">void</span> clear();
<a name="l00153"></a>00153 <span class="comment"></span>
<a name="l00154"></a>00154 <span class="comment"> /** Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. */</span>
<a name="l00155"></a>00155 <span class="keywordtype">void</span> changeCoordinatesOrigin( const <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &newOrigin );
<a name="l00156"></a>00156
<a name="l00157"></a>00157
<a name="l00158"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac5c1bf8a3cbb8dccf8dddbb78b90d040">00158</a> typedef std::pair<<a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a>,<a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a>> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac5c1bf8a3cbb8dccf8dddbb78b90d040">TPosePDFSensFramePair</a>;
<a name="l00159"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a93e8e4c778da3c9ced962a401747a68e">00159</a> typedef std::<a class="code" href="classstd_1_1deque.html" title="STL class.">deque</a><TPosePDFSensFramePair> <a class="code" href="classstd_1_1deque.html">TPosePDFSensFramePairList</a>;
<a name="l00160"></a>00160
<a name="l00161"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad26ccef686337d3abd08e08a8533b25b">00161</a> typedef TPosePDFSensFramePairList::<a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad26ccef686337d3abd08e08a8533b25b">const_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad26ccef686337d3abd08e08a8533b25b">const_iterator</a>;
<a name="l00162"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">00162</a> typedef TPosePDFSensFramePairList::<a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">iterator</a>;
<a name="l00163"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">00163</a> typedef TPosePDFSensFramePairList::<a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">reverse_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">reverse_iterator</a>;
<a name="l00164"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">00164</a> typedef TPosePDFSensFramePairList::<a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">const_reverse_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">const_reverse_iterator</a>;
<a name="l00165"></a>00165
<a name="l00166"></a>00166
<a name="l00167"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a81f0d23b6a41b61ebd6a9f9d328b8c42">00167</a> inline const_iterator <a class="code" href="eigen__plugins_8h.html#ab295fd8164bf1b1acecbcb29520d62b7">begin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_posesObsPairs.begin(); }
<a name="l00168"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a86f1d181a88832e67806e8946fdf8577">00168</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad26ccef686337d3abd08e08a8533b25b">const_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a86f1d181a88832e67806e8946fdf8577">end</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_posesObsPairs.end(); }
<a name="l00169"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a7f42c44b4a630e0bd30f50660bf0889c">00169</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a7f42c44b4a630e0bd30f50660bf0889c">begin</a>() { <span class="keywordflow">return</span> m_posesObsPairs.begin(); }
<a name="l00170"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a45b77305a68694efc57cbb1468f363c2">00170</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a45b77305a68694efc57cbb1468f363c2">end</a>() { <span class="keywordflow">return</span> m_posesObsPairs.end(); }
<a name="l00171"></a>00171
<a name="l00172"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ab2d4aebe129f7a5f789e53f60f399ad5">00172</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">const_reverse_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ab2d4aebe129f7a5f789e53f60f399ad5">rbegin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_posesObsPairs.rbegin(); }
<a name="l00173"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#aa4dc6fa729952277feb2ca122c26b6d0">00173</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">const_reverse_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#aa4dc6fa729952277feb2ca122c26b6d0">rend</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_posesObsPairs.rend(); }
<a name="l00174"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac72bfc8e5249092b1b9c567afe99ea09">00174</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">reverse_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac72bfc8e5249092b1b9c567afe99ea09">rbegin</a>() { <span class="keywordflow">return</span> m_posesObsPairs.rbegin(); }
<a name="l00175"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad55cc781436bc7caa89a3ca562c04016">00175</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">reverse_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad55cc781436bc7caa89a3ca562c04016">rend</a>() { <span class="keywordflow">return</span> m_posesObsPairs.rend(); }
<a name="l00176"></a>00176
<a name="l00177"></a>00177 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00178"></a>00178 <span class="comment"> /** The stored data */</span>
<a name="l00179"></a><a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a9aac79544ddcceb9df0674106ee9f79c">00179</a> <a class="code" href="classstd_1_1deque.html">TPosePDFSensFramePairList</a> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html#a9aac79544ddcceb9df0674106ee9f79c" title="The stored data.">m_posesObsPairs</a>;
<a name="l00180"></a>00180
<a name="l00181"></a>00181 }; <span class="comment">// End of class def.</span>
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="comment">// For compatibility with code < 0.9.0</span>
<a name="l00184"></a>00184 <span class="preprocessor">#if MRPT_BACKCOMPATIB_08X</span>
<a name="l00185"></a>00185 <span class="preprocessor"></span> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> CSensFrameProbSequence;
<a name="l00186"></a>00186 <span class="keyword">typedef</span> <a class="code" href="structmrpt_1_1slam_1_1_c_simple_map_ptr.html">CSimpleMapPtr</a> CSensFrameProbSequencePtr;
<a name="l00187"></a>00187 <span class="preprocessor">#endif</span>
<a name="l00188"></a>00188 <span class="preprocessor"></span>
<a name="l00189"></a>00189
<a name="l00190"></a>00190 } <span class="comment">// End of namespace</span>
<a name="l00191"></a>00191 } <span class="comment">// End of namespace</span>
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
